Following the procedure described in Section REF , we first synthesize the offline plan for each source robot. For robot \(a_0\) , it took \(0.01s\)  for the solver [1]} to obtain the initial plan; similarly for \(a_1,a_2\) .
For the initial coordination via (REF ), it took \(0.16s\)  for Gurobi [2]} to find the initial path for robot \(l_1\) .
Once the robots starts moving, the plan execution and coordination of meeting events during run time follows Section REF . Note that swapping meeting events between relay robots is not considered as there is only one relay robot.
The experiment was performed for a duration of 3 minutes, and the full video can be found online at [3]}.
The sampled trajectory of each robot is plotted in Figure REF . It can be seen that each robot satisfies its local task and avoids collisions with the static obstacles.
Moreover, the amount of data stored within each robot's buffer is shown in Figure REF , which verifies that buffer constraints are always respected. Finally, during the experiment, 27 data units were uploaded in total to the data center, as shown in Figure REF .
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